U.S. patent number 10,117,567 [Application Number 15/252,767] was granted by the patent office on 2018-11-06 for endoscope.
This patent grant is currently assigned to OLYMPUS CORPORATION. The grantee listed for this patent is OLYMPUS CORPORATION. Invention is credited to Yasuhiro Okamoto.
United States Patent |
10,117,567 |
Okamoto |
November 6, 2018 |
Endoscope
Abstract
An endoscope includes a bending section being disposed in an
insertion section, a plurality of towing members disposed in the
insertion section and in an operation section from the bending
section, a disk member turnably provided in the operation section
and configured to turn to tow and loosen the plurality of towing
members, the plurality of towing members being suspended in an
outer circumference of the disk member, operation members turnably
disposed in the operation section and configured to turn the disk
member to bend the bending section, and a turning shaft configured
to turnably axially support the disk member and the operation
members with respect to the operation section in a position
decentered to the distal end side by a predetermined distance d
with respect to a center of the disk member in an initial state in
which the bending section is linear.
Inventors: |
Okamoto; Yasuhiro (Hachioji,
JP) |
Applicant: |
Name |
City |
State |
Country |
Type |
OLYMPUS CORPORATION |
Tokyo |
N/A |
JP |
|
|
Assignee: |
OLYMPUS CORPORATION (Tokyo,
JP)
|
Family
ID: |
55580713 |
Appl.
No.: |
15/252,767 |
Filed: |
August 31, 2016 |
Prior Publication Data
|
|
|
|
Document
Identifier |
Publication Date |
|
US 20160367111 A1 |
Dec 22, 2016 |
|
Related U.S. Patent Documents
|
|
|
|
|
|
|
Application
Number |
Filing Date |
Patent Number |
Issue Date |
|
|
PCT/JP2015/058039 |
Mar 18, 2015 |
|
|
|
|
Foreign Application Priority Data
|
|
|
|
|
Sep 26, 2014 [JP] |
|
|
2014-196842 |
|
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A61B
1/00 (20130101); A61B 1/0052 (20130101); A61B
1/005 (20130101); A61B 1/0057 (20130101) |
Current International
Class: |
A61B
1/00 (20060101); A61B 1/005 (20060101) |
Field of
Search: |
;600/146 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
|
|
|
|
|
|
|
103582444 |
|
Feb 2014 |
|
CN |
|
2 649 922 |
|
Oct 2013 |
|
EP |
|
2002-165753 |
|
Jun 2002 |
|
JP |
|
2007-061218 |
|
Mar 2007 |
|
JP |
|
2008-142199 |
|
Jun 2008 |
|
JP |
|
Other References
Extended Supplementary European Search Report dated Nov. 7, 2017 in
European Patent Application No. 15 84 3376.3. cited by applicant
.
International Search Report dated Jun. 9, 2015 issued in
corresponding International Patent Application No.
PCT/JP2015/058039. cited by applicant.
|
Primary Examiner: Leubecker; John P
Assistant Examiner: Wu; Pamela F
Attorney, Agent or Firm: Scully, Scott, Murphy &
Presser, P.C.
Parent Case Text
CROSS REFERENCE TO RELATED APPLICATION
This application is a continuation application of PCT/JP2015/058039
filed on Mar. 18, 2015 and claims benefit of Japanese Application
No. 2014-196842 filed in Japan on Sep. 26, 2014, the entire
contents of which are incorporated herein by this reference.
Claims
What is claimed is:
1. An endoscope comprising: an operation section provided on a
proximal end side; an insertion section extending to a distal end
side from the operation section, a bending section being disposed
in the insertion section; a towing member disposed in the insertion
section and in the operation section from the bending section; a
disk member turnably provided in the operation section and
configured to turn to tow and loosen the towing member, the towing
member comprising a wire extending from each of two sides of the
disk member; an operation member disposed in the operation section
such that a center of the operation member and a center of the disk
member coincide with each other, the operation member being
configured to turn the disk member to bend the bending section; and
a turning shaft configured to turnably axially support the disk
member and the operation member with respect to the operation
section, the turning shaft being juxtaposed with the center of the
disk member and the center of the operation member in a position
decentered to the distal end side along a longitudinal direction of
the operation section by a predetermined distance in an initial
state in which the bending section is linear.
2. The endoscope according to claim 1, wherein, when the bending
section is in the initial state, the center of the turning shaft
and the center of the disk member and the operation member are
juxtaposed along a center axis of the insertion section.
3. The endoscope according to claim 1, wherein the disk member is a
chain wheel, and the towing member further comprises a chain that
meshes with the chain wheel, where an end of each wire is connected
to both ends of the chain.
Description
BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates to an endoscope in which a bending
operation knob for bending a bending section of an insertion
section is provided in an operation section.
2. Description of the Related Art
An endoscope including an insertion section insertable into a
subject for observing a subject that an observer cannot directly
view has been used. As the endoscope, there is an endoscope in
which a bending section bent by hand operation is provided in order
to improve insertability of the insertion section. The bending
section of the endoscope is bent in an up-down direction or a
left-right direction by a bending operation knob provided in an
operation section.
Such an endoscope is disclosed in, for example, Japanese Patent
Application Laid-Open Publication No. 2008-142199. A pulley that
winds an operation wire and tows and loosens the operation wire
according to turning operation of the bending operation knob is
provided. Positions of a center of the pulley and a turning center
are shifted to prevent slack from occurring in the operation wire
when the bending section is operated and make it possible to obtain
satisfactory feeling in operation.
SUMMARY OF THE INVENTION
An endoscope according to an aspect of the present invention
includes: an operation section provided on a hand side, which is a
proximal end side; an insertion section extending to a distal end
side from the operation section, a bending section being disposed
in the insertion section; a plurality of towing members disposed in
the insertion section and in the operation section from the bending
section; a disk member turnably provided in the operation section
and configured to turn to tow and loosen the plurality of towing
members, the plurality of towing members being suspended in an
outer circumference of the disk member; an operation member
turnably disposed in the operation section and configured to turn
the disk member to bend the bending section; and a turning shaft
configured to turnably axially support the disk member and the
operation member with respect to the operation section in a
position decentered to the distal end side by a predetermined
distance with respect to a center of the disk member in an initial
state in which the bending section is linear.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a diagram showing an overall configuration of an
endoscope in a first embodiment of the present invention;
FIG. 2 is a schematic diagram of the endoscope showing a
configuration in which a bending section is bent by a turning
mechanism that turns in association with a bending operation knob
in the first embodiment of the present invention;
FIG. 3 is a schematic diagram showing a turning position of the
bending operation knob at a time when the bending section is bent
upward from an initial state in the first embodiment of the present
invention;
FIG. 4 is a schematic diagram showing a turning position of the
bending operation knob at a time when the bending section is bent
90 degrees upward in the first embodiment of the present
invention;
FIG. 5 is a schematic diagram showing a turning position of the
bending operation knob at a time when the bending section is bent
180 degrees upward in the first embodiment of the present
invention;
FIG. 6 is a schematic diagram showing a turning position of the
bending operation knob at a time when the bending section is bent
downward from the initial position in the first embodiment of the
present invention;
FIG. 7 is a schematic diagram showing a turning position of the
bending operation knob at a time when the bending section is bent
90 degrees downward in the first embodiment of the present
invention;
FIG. 8 is a schematic diagram showing a turning position of the
bending operation knob at a time when the bending section is bent
180 degrees downward in the first embodiment of the present
invention;
FIG. 9 is a graph showing a change in an operation force amount of
the bending operation knob with respect to a bending angle of the
bending section in the first embodiment of the present
invention;
FIG. 10 is a schematic diagram showing a turning position of a
bending operation knob at a time when a bending section is bent
upward from an initial state in a second embodiment of the present
invention;
FIG. 11 is a schematic diagram showing a turning position of the
bending operation knob at a time when the bending section is bent
90 degrees upward in the second embodiment of the present
invention;
FIG. 12 is a schematic diagram showing a turning position of the
bending operation knob at a time when the bending section is bent
180 degrees upward in the second embodiment of the present
invention;
FIG. 13 is a schematic diagram showing a turning position of the
bending operation knob at a time when the bending section is bent
downward from the initial state in the second embodiment of the
present invention;
FIG. 14 is a schematic diagram showing a turning position of the
bending operation knob at a time when the bending section is bent
90 degrees downward in the second embodiment of the present
invention;
FIG. 15 is a schematic diagram showing a turning position of the
bending operation knob at a time when the bending section is bent
180 degrees downward in the second embodiment of the present
invention;
FIG. 16 is a graph showing a change in an operation force amount of
the bending operation knob with respect to a bending angle of the
bending section in the second embodiment of the present
invention;
FIG. 17 is a schematic diagram for explaining a movement of the
bending operation knob at a time when the bending section is bent
90 degrees upward from the initial state in the second embodiment
of the present invention;
FIG. 18 is a schematic diagram for explaining a movement of the
bending operation knob at a time when the bending section is bent
180 degrees upward from a 90 degree state in the second embodiment
of the present invention;
FIG. 19 is a schematic diagram for explaining a movement of the
bending operation knob at a time when the bending section is bent
90 degrees downward from the initial state in the second embodiment
of the present invention; and
FIG. 20 is a schematic diagram for explaining a movement of the
bending operation knob at a time when the bending section is bent
180 degrees downward from the 90 degree state in the second
embodiment of the present invention.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT(S)
The present invention is explained below with reference to the
drawings. Note that, in the respective figures referred to in the
following explanation, scales are differentiated for each of
components in order to show the respective components in sizes
recognizable on the drawings. The present invention is not limited
to only numbers of components, shapes of the components, ratios of
sizes of the components, and relative positional relations of the
respective components described in the figures.
First Embodiment
FIG. 1 to FIG. 9 relate to a first embodiment of the present
invention. FIG. 1 is a diagram showing an overall configuration of
an endoscope. FIG. 2 is a schematic diagram of the endoscope
showing a configuration in which a bending section is bent by a
turning mechanism that turns in association with a bending
operation knob. FIG. 3 is a schematic diagram showing a turning
position of the bending operation knob at a time when the bending
section is bent upward from an initial state. FIG. 4 is a schematic
diagram showing a turning position of the bending operation knob at
a time when the bending section is bent 90 degrees upward. FIG. 5
is a schematic diagram showing a turning position of the bending
operation knob at a time when the bending section is bent 180
degrees upward. FIG. 6 is a schematic diagram showing a turning
position of the bending operation knob at a time when the bending
section is bent downward from the initial position. FIG. 7 is a
schematic diagram showing a turning position of the bending
operation knob at a time when the bending section is bent 90
degrees downward. FIG. 8 is a schematic diagram showing a turning
position of the bending operation knob at a time when the bending
section is bent 180 degrees downward. FIG. 9 is a graph showing a
change in an operation force amount of the bending operation knob
with respect to a bending angle of the bending section.
As shown in FIG. 1, an endoscope 1 configured to include an
insertion section 2 inserted into a subject, an operation section 3
consecutively connected to a hand side, which is a proximal end
side of the insertion section 2, a universal cord 8 extended from
the operation section 3, and a connector 9 provided at an extending
end of the universal cord 8. Note that the endoscope 1 is
electrically connected to not-shown external apparatuses such as a
video processor and a light source apparatus via the connector
9.
In the operation section 3, an up-down bending operation knob 4
functioning as an operation member that is turned to bend a bending
section 12 of the insertion section 2 in an up-down direction and a
left-right bending operation knob 5 functioning as an operation
member that is turned to bend the bending section 12 to a
left-right direction are provided.
The up-down bending operation knob 4 and the left-right bending
operation knob 5 are disk-like members in which five protrusion
sections (4a) for finger hook are radially provided from a center
(a turning center).
Further, in the operation section 3, a fixing lever 6 that fixes a
turning position of the up-down bending operation knob 4 and a
fixing knob 7 that fixes a turning position of the left-right
bending operation knob 5 are provided.
In the insertion section 2, a distal end portion 11, the bending
section 12, and a flexible tube section 13 are jointly provided in
order from a distal end side. The insertion section 2 is formed
thin and long to be easily inserted into a subject.
The bending section 12 is bent in, for example, upward, downward,
left, and right four directions by turning operation of the up-down
bending operation knob 4 and the left-right bending operation knob
5 to thereby change an observation direction of an image pickup
unit 30 explained below provided in the distal end portion 11 and
improve insertability of the distal end portion 11 in the
subject.
In the endoscope 1, as shown in FIG. 2, a sprocket 21 functioning
as a disk member, which is a chain wheel, connected via a turning
shaft 22 coupled to a center (a turning center) O1 of the up-down
bending operation knob 4 to axially support the up-down bending
operation knob 4 is disposed in the operation section 3. Note that
the disk member may be a pulley rather than the sprocket 21.
The sprocket 21 is axially supported by the turning shaft 22 such
that, when the bending section 12 is linear, a center O2 is
decentered in a predetermined direction, in the figure, an upward
side of the operation section 3 at a predetermined distance d from
the turning center O1 of the up-down bending operation knob 4.
In other words, in the sprocket 21, the turning center O1 is
decentered by the predetermined distance d to the distal end side
along a longitudinal direction of the operation section 3 with
respect to the center O2.
Note that the center (the turning center) O1 of the turning shaft
22 and the up-down bending operation knob 4 and the center O2 of
the sprocket 21 are juxtaposed along a center axis of the insertion
section 2 when the bending section 12 is in a neutral linear state
(a neutral initial state).
Only an upper semicircular portion of a chain 23, which is a part
of a towing member, is suspended and meshed with the sprocket 21. A
pair of operation wires 25, which is a part of the towing member,
is connected to both end portions of the chain 23 via connecting
members 24.
The operation wires 25 are disposed to be inserted through the
insertion section 2 from the operation section 3. Distal ends of
the operation wires 25 are connected to a most-distal-end bending
piece provided at a not-shown distal end in the bending section
12.
A not-shown plurality of bending pieces are turnably coupled on an
inside of the bending section 12. When the operation wires 25 are
towed and loosened according to turning of the up-down bending
operation knob 4, the bending section 12 is configured to bend in
the up-down direction.
Note that, although not shown in the figure, in the operation
section 3, as in the up-down bending operation knob 4, the sprocket
21, the chain 23, the operation wires 25, and the like
corresponding to the left-right bending operation knob 5 are
provided. Therefore, when the operation wires 25 are towed and
loosened according to the turning of the left-right bending
operation knob 5, the bending section 12 is configured to bend in
the left-right direction. Such a bending structure in which the
plurality of bending pieces are provided in the bending section 12
is well known. Therefore, explanation of the bending structure is
omitted.
A relation between rotation angles and operation force amounts of
the respective bending operation knobs 4 and 5 in the endoscope 1
configured as explained above is explained in detail below with
reference to the drawings.
Note that, for convenience of explanation, a bending angle of the
bending section 12 is set to an angle same as a rotation angle of
the respective bending operation knobs 4 and 5.
Further, in the following explanation, a relation between a
rotation angle and an operation force amount of the up-down bending
operation knob 4 is illustrated. A relation between a rotation
angle and an operation force amount of the left-right bending
operation knob 5 is the same as the relation of the rotation angle
and operation force amount of the up-down bending operation knob 4.
Therefore, explanation concerning the left-right bending operation
knob 5 is omitted without illustrating the relation.
In the endoscope 1, as shown in FIG. 3 to FIG. 8, the center O2 of
the sprocket 21 is decentered on an upward side along a
longitudinal direction of the operation section 3 while having a
predetermined distance d (d=1/2a), which is a half 1/2a of a radius
a of the sprocket 21, with respect to the center (the turning
center) O1 of the up-down bending operation knob 4 provided in the
operation section 3, that is, the center (the turning center) O1 of
the turning shaft 22.
That is, in the sprocket 21, the turning center O1 is decentered
with respect to the center O2 by a predetermined distance 1/2a (=d)
to the distal end side along the longitudinal direction of the
operation section 3.
Note that, in the following explanation, a point where a finger (a
thumb) F of a user is hooked to the protrusion sections 4a of the
up-down bending operation knob 4 is represented as an action point
Pe, a distance from the action point Pe to the turning center O1 is
represented as a predetermined distance b, and a point on an
extended line in a lateral direction (a horizontal direction) of
the center O2 of the sprocket 21 is represented as a power point
Pa.
First, a relation between a rotation angle of the up-down bending
operation knob 4 and a turning force amount of the operation knob
at a time when the bending section 12 bends in an upward direction
is explained below with reference to FIG. 3 to FIG. 5.
When a bending angle of the bending section 12 to be bent to an
upward side is changed from 0 (zero) degrees in an initial state of
the bending angle, in which the bending section 12 is linear, shown
in FIG. 3 to 90 degrees, as shown in FIG. 4, the up-down bending
operation knob 4 is turned 90 degrees around the turning center O1
in a counterclockwise direction.
In this state, an operation force amount necessary for an operation
force amount F.sub.0, which is a towing force of the operation
wires 25 for bending the bending section 12 at a time when the
bending section 12 is further bent to the upward side from the
bending angle of 0 degrees, is the following Equation (1) from a
relation between a distance 5/2a from the turning center O1 to the
power point Pa and the distance b from the turning center O1 to the
action point Pe. Operation force amount F0=F.sub.0 5/2a/b (1)
Note that the distance from the turning center O1 to the power
point Pa can be calculated by a Pythagorean Theorem.
When the bending section 12 is further bent to the upward side from
the state of the bending angle of 90 degrees shown in FIG. 4 to
change the bending angle of the bending section 12 to 180 degrees,
as shown in FIG. 5, the up-down bending operation knob 4 is turned
90 degrees around the turning center O1 in the counterclockwise
direction. At this point, the sprocket 21 turns 90 degrees around
the turning center O1 to approach a finger 100 of the user.
That is, when the bending angle of the bending section 12 is
changed to 180 degrees to the upward side from the state of the
bending angle of 0 (zero) degrees of the bending section 12 shown
in FIG. 3, the up-down bending operation knob 4 is turned 180
degrees around the turning center O1 counterclockwise.
In this state, an operation force amount F90 necessary for a
bending force amount F.sub.90 for bending the bending section 12 at
a time when the bending section 12 is further bent upward from the
bending angle of 90 degrees is the following Equation (2) from a
relation between a distance 1/2a from the turning center O1 to the
power point Pa and the distance b from the turning center O1 to the
action point Pe. Operation force amount F90=F.sub.901/2a/b (2)
Note that an operation force amount F180 necessary for a bending
force amount F.sub.180 at a time when the bending angle of the
bending section 12 is changed to 180 degrees shown in FIG. 5 is the
following Equation (3) from the relation between the distance 5/2a
from the turning center O1 to the power point Pa and the distance b
from the turning center O1 to the action point Pe. Operation force
amount F180=F.sub.180 5/2a/b (3)
A relation between a rotation angle and an operation force amount
of the up-down bending operation knob 4 at a time when the bending
section 12 bends in a downward direction is explained below with
reference to FIG. 6 to FIG. 8.
When a bending angle of the bending section 12 to be bent to a
downward side is changed from 0 (zero) degrees in the initial state
of the bending angle, in which the bending section 12 is linear,
shown in FIG. 6 to 90 degrees (-90 degrees), as shown in FIG. 7,
the up-down bending operation knob 4 is turned 90 degrees (-90
degrees) around the turning center O1 in the counterclockwise
direction.
In this state, an operation force amount F0 necessary for an
operation force amount F.sub.0, which is a towing force of the
operation wires 25 for bending the bending section 12 at a time
when the bending section 12 is further bent to the downward side
from the bending angle of 0 degrees, is the following Equation (4)
from the relation between the distance 5/2a from the turning center
O1 to the power point Pa and the distance b from the turning center
O1 to the action point Pe. Operation force amount F0=F.sub.0 5/2a/b
(4)
When the bending section 12 is further bent to the downward side
from the state of the bending angle of 90 degrees (-90 degrees)
shown in FIG. 7 to change the bending angle of the bending section
12 to 180 degrees (-180 degrees), as shown in FIG. 8, the up-down
bending operation knob 4 is further turned 90 degrees (-90 degrees)
around the turning center O1 in the counterclockwise direction. At
this point, the sprocket 21 turns 90 degrees (-90 degrees) around
the turning center O1 to move away from the finger 100 of the
user.
That is, when the bending angle of the bending section 12 is
changed to 180 degrees (-180 degrees) to the downward side from the
state of the bending angle of 0 (zero) degrees of the bending
section 12 shown in FIG. 6, the up-down bending operation knob 4 is
turned 180 degrees (-180 degrees) around the turning center O1
counterclockwise.
In this state, an operation force amount F90 (F-90) necessary for
the bending force amount F.sub.90 for bending the bending section
12 at a time when the bending section 12 is further bent downward
from the bending angle of 90 degrees (-90 degrees) is the following
Equation (5) from a relation between the distance a from the
turning center O1 to the power point Pa and the distance b from the
turning center O1 to the action point Pe. Operation force amount
F90=F.sub.901/2a/b (5)
Note that an operation force amount F180 (F-180) necessary for the
bending force amount F.sub.180 at a time when the bending angle of
the bending section 12 is changed to 180 degrees (-180 degrees)
shown in FIG. 8 is the following Equation (6) from the relation
between the distance 5/2a from the turning center O1 to the power
point Pa and the distance b from the turning center O1 to the
action point Pe. Operation force amount F180=F.sub.180 5/2a/b
(6)
On the other hand, in a general endoscope, the center O1 of the
up-down bending operation knob 4 and the center O2 of the sprocket
21 coincide with each other and are not decentered. Therefore, the
relation between the distance a from the turning center O1 to the
power point Pa and the distance b from the turning center O1 to the
action point Pe is invariable.
Therefore, the operation force amount F0 necessary for the
operation force amount F.sub.0, which is a towing force of the
operation wires 25 for bending the bending section 12 at a time
when the bending section 12 is further bent to the upward/downward
sides from the bending angle of 0 degrees, in the conventional
endoscope is the following Equation (7) from the relation between
the distance a from the turning center O1 to the power point Pa and
the distance b from the turning center O1 to the action point Pe in
both the upward and downward directions. Operation force amount
F0=F.sub.0a/b (7)
The operation force amount F90 (F-90) necessary for the bending
force amount F.sub.90 for bending the bending section 12 at a time
when the bending section 12 is further bent upward/downward from
the bending angle of 90 degrees (-90 degrees) in the conventional
endoscope is the following Equation (8) because the distance a from
the turning center O1 to the power point Pa and the distance b from
the turning center O1 to the action point Pe do not change in both
the upward and downward directions. Operation force amount
F90(F-90)=F.sub.90a/b (8)
Further, the operation force amount F180 (F-180) necessary for the
bending force amount F.sub.180 at a time when the bending angle of
the bending section 12 is changed to 180 degrees (-180 degrees) in
the conventional endoscope is, from the relationship, the following
Equation (9) because the distance a from the turning center O1 to
the power point Pa and the distance b from the turning center O1 to
the action point Pe do not change in both the upward and downward
directions. Operation force amount F180(F-180)=F.sub.180a/b (9)
A table summarizing the above is shown below.
TABLE-US-00001 TABLE 1 Transition of an operation force amount of
the bending operation knob Bending angle of the bending section
(Rotation angle of the bending operation knob) and operation force
amount 0.degree./F0 90.degree./F90 180.degree./F180 Decentering is
absent F.sub.0 a/b F.sub.90 a/b F.sub.180 a/b (general endoscope)
Decentering is present F.sub.0 5/2 F.sub.90 1/2 F.sub.180 5/2 in an
UP direction a/b a/b a/b Decentering is present F.sub.0 5/2
F.sub.90 1/2 F.sub.180 5/2 in a DOWN direction a/b a/b a/b
In the endoscope 1, when the distance a from the turning center O1
to the power point Pa is a half (b=2a) of the distance b from the
turning center O1 to the action point Pe, the respective equations
(1) to (6) are calculated as follows. F0=F.sub.0 5/2a/(2a)=F.sub.0
5/4 (1), (4) F90(F-90)=F.sub.90a1/2/2a=F.sub.901/4 (2), (5)
F180(F-180)=F.sub.180a1/2a=F.sub.180 5/4 (3), (6)
Note that, in the conventional endoscope, when the distance a from
the turning center O1 to the power point Pa is a half (b=2a) of the
distance b from the turning center O1 to the action point Pe, the
respective equations (7) to (9) are calculated as follows.
F0=F.sub.0a/2a=F.sub.01/2 (7) F90(F-90)=F.sub.90a/2a=F.sub.901/2
(8) F180(F-180)=F.sub.180a/2a=F.sub.1801/2 (9)
A table summarizing the above is shown below.
TABLE-US-00002 TABLE 2 Transition of an operation force amount of
the bending operation knob (b = 2a) Bending angle of the bending
section (Rotation angle of the bending operation knob) and
operation force amount 0.degree./F0 90.degree./F90 180.degree./F180
Decentering is absent F.sub.0 1/2 F.sub.90 1/2 F.sub.180 1/2
(general endoscope) Decentering is present F.sub.0 5/4 F.sub.90 1/4
F.sub.180 5/4 in an UP direction Decentering is present F.sub.0 5/4
F.sub.90 1/4 F.sub.180 5/4 in a DOWN direction
The above is the explanation of the operation force amount of the
up-down bending operation knob 4 with respect to the bending angle
for bending the bending section 12. The same applies to the
left-right bending operation knob 5. Therefore, explanation is
omitted concerning the left-right bending operation knob 5.
In the endoscope 1 in the present embodiment, as shown in a graph
of FIG. 9, when compared with a linear change indicated by a broken
line in the figure due to an operation force amount of a
conventional (existing) general endoscope, the operation force
amount F0 in an initial motion from the bending angle of 0 degrees
at a time when the bending section 12 is bent and the operation
force amount F180 (F-180) at the bending angle of 180 degrees (-180
degrees) are approximately 1.12 {=(F.sub.0 5/2)/(F.sub.01/2)}
times. The operation force amounts slightly increase.
However, in the endoscope 1, the operation force amount F90 (F-90)
for bending the bending section 12 to the bending angle of 90
degrees (-90 degrees) only has to be a force amount of a half
1/2{=(F.sub.901/4)/(F.sub.901/2)}. An operation force amount at the
time when the bending section 12 is bent from the bending angle of
0 degrees to the bending angle of 180 degrees (-180 degrees)
changes to draw an arc to be reduced. Since the operation force
amount changes to drawn an arc, the endoscope 1 does not give a
sense of awkwardness to operation by the user.
Further, in the endoscope, an operation force amount of an initial
motion for turning the respective bending operation knobs 4 and 5
at the time when the bending section 12 is bent from the linear
state (the neutral initial state) slightly increases from an
operation force amount in the conventional general endoscope.
However, since the operation force amount immediately decreases
compared with the conventional endoscope, even a surgeon with less
strength can comfortably and easily bend the bending section
12.
Therefore, the endoscope 1 is configured such that, when the
bending section 12 is bend from the linear state, the operation
force amounts of the respective bending operation knobs 4 and 5
immediately decrease from the initial motion and the bending
section 12 can be easily bent with a light force.
According to the above explanation, in the endoscope in the present
embodiment, after the bending operation knob at the time when the
bending section 12 is bent from the linear state (the neutral
initial state) is turned, the operation force amount immediately
decreases. Therefore, even a surgeon with less strength can easily
perform bending operation of the bending section 12.
Therefore, in the endoscope 1, when the bending section 12 is bent,
the operation force amount of the bending operation knob from the
linear state of the bending section 12 is reduced, the bending
section 12 can be easily bent with a light force, and bending
operability is improved.
Note that, in the endoscope 1 in the present embodiment, when the
bending angle of the bending section 12 is set to 180 degrees (-180
degrees), turning amounts of the respective bending operation knobs
4 and 5 are set the same as the turning amounts of the general
endoscope in which the bending angle is set to 180 degrees (-180
degrees). This is for clearly explanation in terms of calculation.
In the endoscope 1, for example, when the bending angle of the
bending section 12 is set to 180 degrees (-180 degrees), the
turning amounts of the respective bending operation knobs 4 and 5
may be set to be smaller than the turning amounts in the general
endoscope, that is, smaller than 180 degrees.
Second Embodiment
An endoscope in a second embodiment of the present invention is
explained below with reference to the drawings.
Note that, in the following explanation, components same as the
components described in the first embodiment are denoted by the
same reference numerals and signs. Detailed explanation of the
components is omitted.
FIG. 10 to FIG. 20 relate to the second embodiment of the present
invention. FIG. 10 is a schematic diagram showing a turning
position of a bending operation knob at a time when a bending
section is bent upward from an initial state. FIG. 11 is a
schematic diagram showing a turning position of the bending
operation knob at a time when the bending section is bent 90
degrees upward. FIG. 12 is a schematic diagram showing a turning
position of the bending operation knob at a time when the bending
section is bent 180 degrees upward. FIG. 13 is a schematic diagram
showing a turning position of the bending operation knob at a time
when the bending section is bent downward from the initial state.
FIG. 14 is a schematic diagram showing a turning position of the
bending operation knob at a time when the bending section is bent
90 degrees downward. FIG. 15 is a schematic diagram showing a
turning position of the bending operation knob at a time when the
bending section is bent 180 degrees downward. FIG. 16 is a graph
showing a change in an operation force amount of the bending
operation knob with respect to a bending angle of the bending
section. FIG. 17 is a schematic diagram for explaining a movement
of the bending operation knob at a time when the bending section is
bent 90 degrees upward from the initial state. FIG. 18 is a
schematic diagram for explaining a movement of the bending
operation knob at a time when the bending section is bent 180
degrees upward from a 90 degree state. FIG. 19 is a schematic
diagram for explaining a movement of the bending operation knob at
a time when the bending section is bent 90 degrees downward from
the initial state. FIG. 20 is a schematic diagram for explaining a
movement of the bending operation knob at a time when the bending
section is bent 180 degrees downward from the 90 degree state.
In the endoscope 1 in the present embodiment, as shown in FIG. 10,
the sprocket 21 and the respective bending operation knobs 4 and 5
are disposed such that centers (O2 in the figure) coincide with
each other. Note that, in FIG. 10, only the up-down bending
operation knob 4 is illustrated.
The up-down bending operation knob 4 (and the left-right bending
operation knob 5) is a disk-like member in which four protrusion
sections 4a for finger hook are radially provided from a center (a
turning center). Note that, in the respective bending operation
knobs 4 and 5, the number of protrusion sections 4a is not limited
to four but may be five as in the first embodiment or may be any
number equal to or more than two.
In the endoscope 1, the up-down bending operation knob 4 and the
sprocket 21 are axially supported such that, when the bending
section 12 is linear, the center O2 is decentered in a
predetermined direction, in the figure, an upward side, which is a
proximal end side, of the operation section 3 by the predetermined
distance d from the turning center O1 of the turning shaft 22.
In other words, in the up-down bending operation knob 4 and the
sprocket 21, the turning center O1 is decentered by the
predetermined distance d to the distal end side along the
longitudinal direction of the operation section 3 with respect to
the center O2 of the up-down bending operation knob 4 and the
sprocket 21.
Note that the center (the turning center) O1 of the turning shaft
22 and the center O2 of the sprocket 21 and the up-down bending
operation knob 4 are juxtaposed along the center axis of the
insertion section 2 when the bending section 12 is in the linear
state (the neutral initial state).
Further, the same applies to the left-right bending operation knob
5. Explanation of components of the left-right bending operation
knob 5 is omitted.
A relation between rotation angles and operation force amounts of
the respective bending operation knobs 4 and 5 in the endoscope 1
configured as explained above is explained in detail below with
reference to the drawings.
When the bending angle of the bending section 12 to be bent to an
upward side is changed from 0 (zero) degrees in the initial state
of the bending angle, in which the bending section 12 is linear,
shown in FIG. 10 to 90 degrees, as shown in FIG. 11, the up-down
bending operation knob 4 is turned 90 degrees around the turning
center O1 in the counterclockwise direction.
In this state, an operation force amount necessary for the
operation force amount F.sub.0, which is a towing force of the
operation wires 25 for bending the bending section 12 at a time
when the bending section 12 is further bent to the upward side from
the bending angle of 0 degrees, is the following Equation (10) from
a relation between a distance 5/2a from the turning center O1 to
the power point Pa and a distance (b^2+(1/2a)^2) from the turning
center O1 to the action point Pe. Operation force amount F0=F.sub.0
5/2a/ (b^2+(1/2a)^2) (10)
Note that the distance from the turning center O1 to the power
point Pa and the distance from the turning center O1 to the action
point Pe can be calculated by a Pythagorean Theorem.
When the bending section 12 is further bent to the upward side from
the state of the bending angle of 90 degrees shown in FIG. 11 to
change the bending angle of the bending section 12 to 180 degrees,
as shown in FIG. 12, the up-down bending operation knob 4 is turned
90 degrees around the turning center O1 in the counterclockwise
direction. At this point, the up-down bending operation knob 4 and
the sprocket 21 turn 90 degrees around the turning center O1 to
approach the finger 100 of the user.
That is, when the bending angle of the bending section 12 is
changed to 180 degrees to the upward side from the state of the
bending angle of 0 (zero) degrees of the bending section 12 shown
in FIG. 10, the up-down bending operation knob 4 is turned 180
degrees around the turning center O1 counterclockwise.
In this state, the operation force amount F90 necessary for the
bending force amount F.sub.90 for bending the bending section 12 at
a time when the bending section 12 is further bent upward from the
bending angle of 90 degrees is the following Equation (11) from a
relation between the distance 1/2a from the turning center O1 to
the power point Pa and a distance b+1/2a from the turning center O1
to the action point Pe. Operation force amount
F90=F.sub.901/2a/(b+1/2a) (11)
Note that the operation force amount F180 necessary for the bending
force amount F.sub.180 at a time when the bending angle of the
bending section 12 is changed to 180 degrees shown in FIG. 12 is
the following Equation (12) from the relation between the distance
5/2a from the turning center O1 to the power point Pa and the
distance (b^2+(1/2a)^2) from the turning center O1 to the action
point Pe. Operation force amount F180=F.sub.180 5/2a/
(b^2+(1/2a)^2) (12)
A relation between a rotation angle and an operation force amount
of the up-down bending operation knob 4 at a time when the bending
section 12 bends in a downward direction is explained below with
reference to FIG. 13 to FIG. 15.
When the bending angle of the bending section 12 to be bent to a
downward side is changed from 0 (zero) degrees in the initial state
of the bending angle, in which the bending section 12 is linear,
shown in FIG. 13 to 90 degrees (-90 degrees), as shown in FIG. 14,
the up-down bending operation knob 4 is turned 90 degrees (-90
degrees) around the turning center O1 in the counterclockwise
direction.
In this state, the operation force amount F0 necessary for the
operation force amount F.sub.0, which is a towing force of the
operation wires 25 for bending the bending section 12 at a time
when the bending section 12 is further bent to the downward side
from the bending angle of 0 degrees, is the following Equation (13)
from the relation between the distance 5/2a from the turning center
O1 to the power point Pa and the distance (b^2+(1/2a)^2) from the
turning center O1 to the action point Pe. Operation force amount
F0=F.sub.0 5/2a/ (b^2+(1/2a)^2) (13)
When the bending section 12 is further bent to the downward side
from the state of the bending angle of 90 degrees (-90 degrees)
shown in FIG. 14 to change the bending angle of the bending section
12 to 180 degrees (-180 degrees), as shown in FIG. 15, the up-down
bending operation knob 4 is further turned 90 degrees (-90 degrees)
around the turning center O1 in the counterclockwise direction. At
this point, the up-down bending operation knob 4 and the sprocket
21 turn 90 degrees (-90 degrees) around the turning center O1 to
move away from the finger 100 of the user.
That is, when the bending angle of the bending section 12 is
changed to 180 degrees (-180 degrees) to the downward side from the
state of the bending angle of 0 (zero) degrees of the bending
section 12 shown in FIG. 13, the up-down bending operation knob 4
is turned 180 degrees (-180 degrees) around the turning center O1
counterclockwise.
In this state, the operation force amount F90 (F-90) necessary for
the bending force amount F.sub.90 for bending the bending section
12 at a time when the bending section 12 is further bent downward
from the bending angle of 90 degrees (-90 degrees) is the following
Equation (14) from a relation between the distance 1/2a from the
turning center O1 to the power point Pa and a distance b-1/2a from
the turning center O1 to the action point Pe. Operation force
amount F90=F.sub.901/2a/(b-1/2a) (14)
Note that the operation force amount F180 necessary for the bending
force amount F.sub.180 at a time when the bending angle of the
bending section 12 is changed to 180 degrees (-180 degrees) shown
in FIG. 15 is the following Equation (15) from the relation between
the distance 5/2a from the turning center O1 to the power point Pa
and the distance (b^2+(1/2a)^2) from the turning center O1 to the
action point Pe. Operation force amount F180=F.sub.180 5/2a/
(b^2+(1/2a)^2) (15)
On the other hand, in a general endoscope, as explained in the
first embodiment, the relation between the distance a from the
turning center O1 to the power point Pa and the distance b from the
turning center O1 to the action point Pe is invariable.
Therefore, the operation force amount F0 necessary for the
operation force amount F.sub.0, which is a towing force of the
operation wires 25 for bending the bending section 12 at a time
when the bending section 12 is further bent to the upward/downward
sides from the bending angle of 0 degrees, in the conventional
endoscope is the following Equation (16) from the relation between
the distance a from the turning center O1 to the power point Pa and
the distance b from the turning center O1 to the action point Pe in
both the upward and downward directions. Operation force amount
F0=F.sub.0a/b (16)
The operation force amount F90 necessary for the bending force
amount F.sub.90 for bending the bending section 12 at a time when
the bending section 12 is further bent upward/downward from the
bending angle of 90 degrees (-90 degrees) in the conventional
endoscope is the following Equation (17) because the distance a
from the turning center O1 to the power point Pa and the distance b
from the turning center O1 to the action point Pe do not change in
both the upward and downward directions. Operation force amount
F90=F.sub.90a/b (17)
Further, the operation force amount F180 necessary for the bending
force amount F.sub.180 at a time when the bending angle of the
bending section 12 is changed to 180 degrees (-180 degrees) in the
conventional endoscope is the following Equation (18) because the
distance a from the turning center O1 to the power point Pa and the
distance b from the turning center O1 to the action point Pe do not
change in both the upward and downward directions. Operation force
amount F180=F.sub.180a/b (18)
A table summarizing the above is shown below.
TABLE-US-00003 TABLE 3 Bending angle of the bending section
(Rotation angle of the bending operation knob) and operation force
amount 0.degree./F0 90.degree./F90 180.degree./F180 Decentering is
absent (existing endoscope) F0 a/b F90 a/b F180 a/b Decentering is
present in an UP direction .times..times. ##EQU00001## ##EQU00002##
.times..times. ##EQU00003## Decentering is present in a DOWN
direction .times..times. ##EQU00004## ##EQU00005## .times..times.
##EQU00006##
In the endoscope 1, when the distance a from the turning center O1
to the power point Pa is a half (b=2a) of the distance b from the
turning center O1 to the action point Pe, the respective equations
(11) to (15) are calculated as follows. F0=F.sub.0 5/2a/
(b^2+(1/2a)^2)=F.sub.0 5/ 17 (10), (13)
F90=F.sub.901/2a/(2a+1/2a)=F.sub.901/5 (11)
F90(F-90)=F.sub.901/2a/(2a-1/2a)=F.sub.901/3 (14)
F180(F-180)=F.sub.180 5/2a/ {(2a)^2+(1/2a)^2}=F.sub.180 5/ 17
(12),(15)
Note that, in the conventional endoscope, when the distance a from
the turning center O1 to the power point Pa is a half (b=2a) of the
distance b from the turning center O1 to the action point Pe, the
respective equations (16) to (18) are calculated as follows.
F0=F.sub.0a/2a=F.sub.01/2 (16) F90=F.sub.90a/2a=F.sub.901/2 (17)
F180=F.sub.180a/2a=F.sub.1801/2 (18)
A table summarizing the above is shown below.
TABLE-US-00004 TABLE 4 Bending angle of the bending section
(Rotation angle of the bending operation knob) and operation force
amount 0.degree./F0 90.degree./F90 180.degree./F180 Decentering is
absent F.sub.0 1/2 F.sub.90 1/2 F.sub.180 1/2 (existing endoscope)
Decentering is present F.sub.0 5/ 17 F.sub.90 1/5 F.sub.180 5/ 17
in an UP direction Decentering is present F.sub.0 5/ 17 F.sub.90
1/3 F.sub.180 5/ 17 in a DOWN direction
The above is the explanation of the operation force amount of the
up-down bending operation knob 4 with respect to the bending angle
for bending the bending section 12. The same applies to the
left-right bending operation knob 5. Therefore, explanation is
omitted concerning the left-right bending operation knob 5.
In the endoscope 1 in the present embodiment, as shown in a graph
of FIG. 16, when compared with a linear change indicated by a
broken line in the figure due to an operation force amount of the
conventional (existing) general endoscope, the operation force
amount F0 in an initial motion from the bending angle of 0 degrees
at a time when the bending section 12 is bent and the operation
force amount F180 at the bending angle of 180 degrees (-180
degrees) are approximately 1.08 {=(F.sub.0 5/
17)/(F.sub.01/2)=(F.sub.180 5)/( 17/F.sub.1801/2)} times. The
operation force amounts slightly increase.
However, in the endoscope 1, as indicated by a solid line in FIG.
16, the operation force amount F90 for bending the bending section
12 to the bending angle of 90 degrees upward is a force amount of
0.4{=(F.sub.901/5)/(F.sub.901/2)} times. As indicated by an
alternate long and short dash line in FIG. 16, in the endoscope 1,
the operation force amount F90 (F-90) for bending the bending
section 12 downward to the bending angle of 90 degrees only has to
be a force amount of approximately
0.67{=(F.sub.901/3)/(F.sub.901/2)} times. An operation force amount
at the time when the bending section 12 is bent from the bending
angle of 0 degrees to the bending angle of 180 degrees (-180
degrees) changes to draw an arc to be reduced.
As in the first embodiment, since the operation force amount
changes to draw an arc, the endoscope 1 does not give a sense of
awkwardness to operation by the user.
Therefore, as in the first embodiment, in the endoscope, an
operation force amount of an initial motion for turning the
respective bending operation knobs 4 and 5 at the time when the
bending section 12 is bent from the linear state (the neutral
initial state) slightly increases from an operation force amount in
the conventional general endoscope. However, since the operation
force amount immediately decreases compared with the conventional
endoscope, even a surgeon with less strength can comfortably and
easily bend the bending section 12.
Therefore, the endoscope 1 is configured such that, when the
bending section 12 is bend from the linear state, the operation
force amounts of the respective bending operation knobs 4 and 5
immediately decrease from the initial motion and the bending
section 12 can be easily bent with a light force.
In the endoscope 1 in the present embodiment, in addition to the
effects in the first embodiment, in particular, the operation force
amount F90 for bending the frequently-used bending section 12 to
the bending angle of 90 degrees upward is reduced to 0.4 times. It
is possible to easily bend the bending section 12 with an extremely
light force. The bending operability is further improved.
Note that, in the endoscope 1, in the up-down bending operation
knob 4, the turning center O1 of the turning shaft 22 is decentered
by the predetermined distance d to the distal end side along the
longitudinal direction of the operation section 3 with respect to
the center O2. Therefore, as shown in FIG. 17 and FIG. 18, during
bending operation for bending the bending section 12 upward from
the bending angle of 0 degrees to 180 degrees, the protrusion
sections 4a of the up-down bending operation knob 4 turn around the
turning center O1 to approach the finger 100 of the user at a
predetermined distance L.
On the other hand, in the endoscope 1, as shown in FIG. 19 and FIG.
20, during bending operation for bending the bending section 12
downward from the bending angle of 0 degrees to 180 degrees, the
protrusion sections 4a of the up-down bending operation knob 4 turn
around the turning center O1 to move away from the finger 100 of
the user at the predetermined distance L.
However, in the endoscope 1, as explained above, there are a lot of
opportunities to bend the bending section 12 in the upward
direction. In particular, for a surgeon having a small hand, there
is an advantage that operation is easy when the protrusion sections
4a of the up bending operation knob 4 approach the finger 100.
The invention described in the respective embodiments explained
above is not limited to the embodiments and the modifications and,
besides, can be variously modified and implemented without
departing from the spirit of the invention in an implementation
stage. Further, the embodiments include inventions in various
stages. Various inventions can be extracted by appropriate
combinations in a disclosed plurality of constituent elements.
For example, when the described problems can be solved and the
described effects can be obtained even if several constituent
elements are deleted from all the constituent elements described in
the embodiments, a configuration from which the constituent
elements are deleted can be extracted as an invention.
* * * * *